Abstract: Methods, systems and devices for estimating the position and orientation of an invasive surgical devices, for example, a catheter guidewire or endoscope, surgical catheter, or self-guided electrophysiology catheter, relative to a reference frame, are described. An example system comprises one or more permanent magnets mounted on the surgical device, a plurality of magnetometer sensors at fixed location providing a reference frame that are configured to perform magnetic field measurements of the direct current superposition field of the permanent magnets, and computational means for receiving the input signals and calculating the position and orientation of the permanent magnets mounted on the surgical device.

Abstract: Devices, systems and methods for automatic calibration of rate gyroscope sensitivity are described. One exemplary method includes receiving a first plurality of measurements from a gyroscope and a second plurality of measurements from at least another sensor including at least one accelerometer, generating an orientation estimate of the device and a plurality of orientation corrections based on the first and second plurality of measurements, generating an estimate of a sensitivity of the gyroscope based on the orientation estimate, the plurality of orientation corrections and the first plurality of measurements, and calibrating at least the gyroscope based on the estimate of the sensitivity. In an example, the at least another sensor may include an accelerometer and/or a magnetometer.

Abstract: Devices, systems and methods for automatic calibration of rate gyroscope sensitivity are described. One exemplary method includes receiving a first plurality of measurements from a gyroscope and a second plurality of measurements from at least another sensor including at least one accelerometer, generating an orientation estimate of the device and a plurality of orientation corrections based on the first and second plurality of measurements, generating an estimate of a sensitivity of the gyroscope based on the orientation estimate, the plurality of orientation corrections and the first plurality of measurements, and calibrating at least the gyroscope based on the estimate of the sensitivity. In an example, the at least another sensor may include an accelerometer and/or a magnetometer.

Abstract: An electronic device configured for real-time calibration of an on-board accelerometer. A plurality of acceleration measurements are collected from the accelerometer to form a data set. An accelerometer error correction model is maintained that includes bias error calibration parameters, sensitivity calibration parameters, and cross-axis calibration parameters that each specify respective weights for each of bias error, sensitivity error, and cross-axis error. Calibration values are determined for one or more of the bias error calibration parameters, the sensitivity calibration parameters, and the cross-axis error calibration parameters for the data set of acceleration measurements using the accelerometer error correction model. A true acceleration vector may be determined that corresponds to a subsequently received acceleration measurement using the determined calibration values.

Abstract: An electronic device configured for real-time calibration of an on-board accelerometer. A plurality of acceleration measurements are collected from the accelerometer to form a data set. An accelerometer error correction model is maintained that includes bias error calibration parameters, sensitivity calibration parameters, and cross-axis calibration parameters that each specify respective weights for each of bias error, sensitivity error, and cross-axis error. Calibration values are determined for one or more of the bias error calibration parameters, the sensitivity calibration parameters, and the cross-axis error calibration parameters for the data set of acceleration measurements using the accelerometer error correction model. A true acceleration vector may be determined that corresponds to a subsequently received acceleration measurement using the determined calibration values.

Abstract: An electronic device configured for real-time calibration of an on-board accelerometer. A plurality of acceleration measurements are collected from the accelerometer to form a data set. An accelerometer error correction model is maintained that includes bias error calibration parameters, sensitivity calibration parameters, and cross-axis calibration parameters that each specify respective weights for each of bias error, sensitivity error, and cross-axis error. Calibration values are determined for one or more of the bias error calibration parameters, the sensitivity calibration parameters, and the cross-axis error calibration parameters for the data set of acceleration measurements using the accelerometer error correction model. A true acceleration vector may be determined that corresponds to a subsequently received acceleration measurement using the determined calibration values.

Abstract: An electronic device configured for real-time calibration of an on-board accelerometer. A plurality of acceleration measurements are collected from the accelerometer to form a data set. An accelerometer error correction model is maintained that includes bias error calibration parameters, sensitivity calibration parameters, and cross-axis calibration parameters that each specify respective weights for each of bias error, sensitivity error, and cross-axis error. Calibration values are determined for one or more of the bias error calibration parameters, the sensitivity calibration parameters, and the cross-axis error calibration parameters for the data set of acceleration measurements using the accelerometer error correction model. A true acceleration vector may be determined that corresponds to a subsequently received acceleration measurement using the determined calibration values.